#!/usr/bin/env python

# -------
# Imports:
# -----------
# Project configuration
from config import *

# ROS imports
import roslib; roslib.load_manifest(NODE_NAME)
import rospy

# Other imports
from worker_thread import WorkerThread

# ------------------------------------
class LocalizationThread(WorkerThread):
# ------------------------------------
	# ---------------------------------------------
	def __init__(self, idNum, jobQueue, controller):
	# ---------------------------------------------
		# Super!
		WorkerThread.__init__(self, idNum, jobQueue, controller, self.do)	
		
	# ---------------
	def do(self, job):
	# ---------------
		# Run localization for the particle		
		particle = job[0]
		laser = job[1]
		particle.localize(laser)
